This paper is intended to give an intuitive overview of the operations of MASA-CIRCA, the Multi-Agent Self- Adaptive Cooperative Intelligent Real-Time Control Architecture. While individual CIRCA agents have been under development for some time, we have only recently begun developing the architecture’s multiagent capabilities. This paper briefly describes the high-level negotiation functions that MASA-CIRCA currently uses to coordinate multiple agents, in the context of an implemented demonstration scenario.

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